11 Safety Function
11.4 Functional Safety Functions
11-91
HW1485509
HW1485509
11.4.10.3 Temporarily Disable All External Force Monitors
Refer to chapter 11.3.9.6 for the proper instructions to temporarily disable
PFL. Any External Force Monitor settings that are ON will be disabled
when PFL is OFF.
11.4.10.4 Daily Inspection
Periodic Inspection of Torque Sensors
MOTOMAN-HC10 torque sensors require periodic calibration, as their
readings can drift due to environmental changes, accidental collisions
between the manipulator and its surroundings, or general misuse of the
manipulator.
One method to verify whether the manipulator’s torque sensors require
calibration is to use the Force/Torque Watch function that is accessible
through {MENU} {Utility} {Force/Torque Watch}. This window shows
the current and maximum readings of all joint torques and TCP forces.
Current “Joint Data” (in fig. 11-11 “Force / Torque Watch”) is most
important for torque sensor inspection purposes.
DANGER
• Disabling collaborative operation may cause harm to people and
should only be done after thorough risk assessment.
• When presence detection sensor is used, safety distance as per
ISO 13855 must be ensured.
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